from dronekit import connect


# Connect to the Vehicle (in this case a UDP endpoint)
vehicle = connect('/dev/ttyACM0', wait_ready=True, baud=921600)
# vehicle.armed = True
#vehicle.mode = VehicleMode("GUIDED")
# vehicle is an instance of the Vehicle class
print ("RNGFINDER:%s" % vehicle.rangefinder)


print ("Autopilot Firmware version: %s" % vehicle.version)

print ("Autopilot capabilities (supports ftp): %s" % vehicle.capabilities.ftp)

print ("Global Location: %s" % vehicle.location.global_frame)

print ("Global Location (relative altitude): %s" % vehicle.location.global_relative_frame)

print ("Local Location: %s" % vehicle.location.local_frame )   #NED

print ("Attitude: %s" % vehicle.attitude)

print ("Velocity: %s" % vehicle.velocity)

print ("GPS: %s" % vehicle.gps_0)

print ("Groundspeed: %s" % vehicle.groundspeed)

print ("Airspeed: %s" % vehicle.airspeed)

print ("Gimbal status: %s" % vehicle.gimbal)

print ("Battery: %s" % vehicle.battery)

print ("EKF OK?: %s" % vehicle.ekf_ok)

print ("Last Heartbeat: %s" % vehicle.last_heartbeat)

print ("Rangefinder: %s" % vehicle.rangefinder)

print ("Rangefinder distance: %s" % vehicle.rangefinder.distance)

print ("Rangefinder voltage: %s" % vehicle.rangefinder.voltage)

print ("Heading: %s" % vehicle.heading)

print ("Is Armable?: %s" % vehicle.is_armable)

print ("System status: %s" % vehicle.system_status.state)

print ("Mode: %s" % vehicle.mode.name)    # settable

print ("Armed: %s" % vehicle.armed  )  # settable

